Fieldbus : Industrial Network Real Time Network
Fieldbus : Industrial Network Real Time Network
Fieldbus : Industrial Network Real Time Network
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ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
<strong>Fieldbus</strong> :<br />
<strong>Industrial</strong> <strong>Network</strong><br />
<strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Jean-Pierre Thomesse<br />
Institut National Polytechnique de Lorraine<br />
Nancy, France
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Who’s who<br />
IEC 61784 PROFInet<br />
TT-CAN Hart<br />
ISO 8802.5<br />
TTP<br />
Ethernet Profibus-PA<br />
Unitelway<br />
SNMP<br />
Batibus<br />
MIL 1553B<br />
WorldFIP IEC 61158<br />
P-NET<br />
CiA<br />
Sercos BacNET<br />
SDS ICCP<br />
CSMA-BA EHS CSMA-DCR<br />
EiBUS<br />
FieldBus Foundation<br />
Interbus DeviceNet<br />
Profibus-FMS EN 50254<br />
ControlNet<br />
CANOpen ASI<br />
M-PCCN<br />
Profibus-DP TTP-A<br />
DWF<br />
TTP-C Modbus<br />
TCP-IP FDDI<br />
EN 50170 TASE2<br />
IEC<br />
FIPWay<br />
CASM<br />
ISO 8802.4<br />
MMS<br />
WDPF<br />
ISO 8802.3 Sinec ControlFIP<br />
PLAN JBUS<br />
FIPIO LON<br />
CSMA-CA Seriplex TOP<br />
Mini-MAP<br />
CAN UCA F8000<br />
CSMA-CD<br />
MAP<br />
Profisafe<br />
Bitbus ARINC<br />
UIC 556<br />
Proway<br />
IEC 6375<br />
Digital Hart<br />
M-Bus WITBUS<br />
CIP LocaFIP<br />
J1850<br />
VAN Sycoway GENIUS<br />
Euridis<br />
OPTOBUS LIN<br />
FTT-CAN<br />
IEEE 802.11 AFDX FireWire Vnet/IP Anubis<br />
Sensoplex<br />
FlexRay<br />
EN 50 295<br />
BlueTooth<br />
EPA<br />
CAMAC<br />
ARCNET<br />
Ethercat EtherLink<br />
ModBus-RTPS<br />
IEC 61 499<br />
UWB
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
content<br />
� 1st part : history and state of the art<br />
– fieldbus origins<br />
– development of fieldbus and standards<br />
� 2nd part : technical aspects<br />
– application relationships<br />
– Medium Access Control<br />
– Data Link Layer<br />
– architectures
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
prehistory<br />
� 60s : CAMAC in nuclear experiments<br />
� 70s :<br />
– MODBUS (PLC network)<br />
– WDPF (continuous process)<br />
– ARCNET (office communication and data acquisition)<br />
– Mil Std 1553B<br />
� Data HighWay (Allen Bradley), TiWay (Texas<br />
Instr)…<br />
� needs for standards
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
MAP and TOP (1980)<br />
� Manufacturing Automation Protocol<br />
– General Motors<br />
– communication between design offices and factories<br />
– communication between machine tools and robots<br />
� Technical and Office Protocol<br />
–Boeing<br />
– communication between business and technical offices
Inc<br />
plant<br />
cell<br />
machine<br />
instrumentation<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
CIM architecture<br />
enterprise management<br />
factory control<br />
cell control<br />
machine<br />
instrumentation<br />
TOP<br />
MAP<br />
miniMAP<br />
fieldbus
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
enabling technologies<br />
� OSI reference model (1980)<br />
– communication model and concepts<br />
� LANs (Ethernet, Token…)<br />
– deterministic protocols<br />
– nondeterministic protocols<br />
� microelectronics and integrated circuits
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
enabling technologies<br />
OSI reference model “reduced models”<br />
Application layer<br />
Presentation layer<br />
Session layer<br />
Transport layer<br />
<strong>Network</strong> layer<br />
Data Link layer<br />
Physical layer<br />
Application layer<br />
Data Link layer+MAC<br />
Physical layer
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
enabling technologies<br />
� LANs (Ethernet, Token, TDMA…) development<br />
– deterministic protocols<br />
– nondeterministic protocols<br />
– centralized access or not<br />
� DCS<br />
– Digital Control System vs. Distributed Control System
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
enabling technologies<br />
� microelectronics and integrated circuits<br />
– full and semi-custom<br />
– micro processors<br />
– micro controllers<br />
–DSP<br />
– communication dedicated ICs (I2C- Inter IC network)<br />
– “intelligence” embedded in ICs
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
roles of a fieldbus<br />
� connection of field devices and field controllers<br />
– sensors, actuators, drives controllers, PLCs…<br />
� system considerations<br />
– simplification of wiring<br />
– standardization of communication between devices<br />
– development of smart devices<br />
� real time communication system<br />
– with different services and various qualities of service<br />
– multiple domains of application
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
fieldbus<br />
� backbone of distributed and real time systems
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
fieldbus<br />
� backbone of distributed and real time systems<br />
but also<br />
� bone of contention between automation companies<br />
beginning of the fieldbus saga
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
content<br />
� 1st part : history and state of the art<br />
– fieldbus origins<br />
– development of fieldbus and standards<br />
� 2nd part : technical aspects<br />
– application relationships<br />
– Medium Access Control<br />
– Data Link Layer<br />
– architectures
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
first development<br />
� 1982 - FIP - WorldFIP<br />
� 1983 - PROFIBUS and CAN<br />
� 1984 - P-Net<br />
� 1985 - IEC NWI TC65C/WG6<br />
� 1985 - ISA SP50
� 1st group<br />
� existing systems<br />
– Mil Std 1553B<br />
– IEEE P1118 (Bitbus)<br />
– Foxboro<br />
– Rosemount<br />
–…<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
IEC std contenders<br />
� 2nd group<br />
� paper proposals<br />
–FIP<br />
– PROFIBUS<br />
discussion draft and questionnaire<br />
for functional requirements (ISA)
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
questionnaire<br />
� benefits of fieldbus<br />
– lowering cost, ease of adding devices, accuracy of<br />
information, enhancing the maintainability, remote<br />
access to data, advanced control strategies<br />
� describing field devices<br />
– max response time and message frequency<br />
� information flows<br />
– grouping of devices, topology, number of stations,<br />
redundancy<br />
� application environment<br />
– power, wires type, insulation, flammable atmosphere
� H1<br />
� H2<br />
two fieldbuses H1 and H2<br />
– low data rate<br />
– a few sensors<br />
– small distances<br />
– continuous process<br />
– high data rate<br />
– manufacturing process<br />
– connection of several H1<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong>
equirements - application<br />
� definition of Application Protocol Data Units<br />
– process (real time traffic)<br />
� measurement<br />
� alarm setting<br />
� status<br />
– installation (non real time traffic)<br />
� tag number<br />
� manufacturer’s data<br />
� additional maintenance<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
name value status
equirements - application<br />
� definition of other services<br />
– control access<br />
– configuration services<br />
� types of data<br />
� polled and unsolicited messages<br />
� full logical connectivity<br />
� architectures (distributed or centralized)<br />
� time coherences (of data, of actions)<br />
� space consistency<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong>
� environment<br />
–medium<br />
– insulation<br />
– power<br />
– flammable atmosphere<br />
– topologies<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
requirements<br />
� performances<br />
– number of stations<br />
–length<br />
– data rate<br />
– response time<br />
– integrity of data<br />
– addressing
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
IEC 61158<br />
� 8 types for data link layer<br />
– Type 1 : compromise (Technical Report)<br />
– Type 2 : ControlNet<br />
– Type 3 : Profibus<br />
– Type 4 : P-Net<br />
– Type 5 : Foundation fieldbus<br />
– Type 6 : Swiftnet<br />
– Type 7 : WorldFIP<br />
– Type 8 : Interbus
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
IEC 61158<br />
� 10 types for application layer<br />
– Type 1 : compromise (Technical Report)<br />
– Type 2 : ControlNet<br />
– Type 3 : Profibus<br />
– Type 4 : P-Net<br />
– Type 5 : Foundation fieldbus<br />
– Type 6 : Swiftnet<br />
– Type 7 : WorldFIP<br />
– Type 8 : Interbus<br />
– Type 9 : Foundation fieldbus H1<br />
– Type 10 : Profinet
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
IEC 61 784<br />
� Communication Profile Family - CPF<br />
� IEC 61 784-1<br />
– 18 profiles<br />
� IEC 61 784 -2 under specification (based on<br />
Ethernet)<br />
– VNET/IP,<br />
–TCNet,<br />
–EtherCAT,<br />
– EtherNet PowerLink,<br />
– EPA : Ethernet for Plant Automation<br />
– ModBus RTPS : <strong>Real</strong> <strong>Time</strong> Publish - Subscribe
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Who’s who<br />
IEC 61784 PROFInet<br />
TT-CAN Hart<br />
ISO 8802.5<br />
TTP<br />
Ethernet Profibus-PA<br />
Unitelway<br />
SNMP<br />
Batibus<br />
MIL 1553B<br />
WorldFIP IEC 61158<br />
P-NET<br />
CiA<br />
Sercos BacNET<br />
SDS ICCP<br />
CSMA-BA EHS CSMA-DCR<br />
EiBUS<br />
FieldBus Foundation<br />
Interbus DeviceNet<br />
Profibus-FMS EN 50254<br />
ControlNet<br />
CANOpen ASI<br />
M-PCCN<br />
Profibus-DP TTP-A<br />
DWF<br />
TTP-C Modbus<br />
TCP-IP FDDI<br />
EN 50170 TASE2<br />
IEC<br />
FIPWay<br />
CASM<br />
ISO 8802.4<br />
MMS<br />
WDPF<br />
ISO 8802.3 Sinec ControlFIP<br />
PLAN JBUS<br />
FIPIO LON<br />
CSMA-CA Seriplex TOP<br />
Mini-MAP<br />
CAN UCA F8000<br />
CSMA-CD<br />
MAP<br />
Profisafe<br />
Bitbus ARINC<br />
UIC 556<br />
Proway<br />
IEC 6375<br />
Digital Hart<br />
M-Bus WITBUS<br />
CIP LocaFIP<br />
J1850<br />
VAN Sycoway GENIUS<br />
Euridis<br />
OPTOBUS LIN<br />
FTT-CAN<br />
IEEE 802.11 AFDX FireWire Vnet/IP Anubis<br />
Sensoplex<br />
FlexRay<br />
EN 50 295<br />
BlueTooth<br />
EPA<br />
CAMAC<br />
ARCNET<br />
Ethercat EtherLink<br />
ModBus-RTPS<br />
IEC 61 499<br />
UWB
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
content<br />
� 1st part : history and state of the art<br />
– fieldbus origins<br />
– development of fieldbus and standards<br />
� 2nd part : technical aspects<br />
– application relationships<br />
– Medium Access Control<br />
– Data Link Layer<br />
– architectures
equirements - application<br />
� definition of Application Protocol Data Units<br />
– process (real time traffic)<br />
� measurement<br />
� alarm setting<br />
� status<br />
– installation (non real time traffic)<br />
� tag number<br />
� manufacturer’s data<br />
� additional maintenance<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
identified data<br />
name value status<br />
messages
eal time<br />
periodic<br />
aperiodic<br />
identified data<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
fieldbus traffic<br />
application exchanges<br />
non real time<br />
(management,<br />
configuration)<br />
real time<br />
periodic<br />
aperiodic<br />
messages<br />
non real time<br />
(management,<br />
configuration)
periodic traffic of identified data<br />
F<br />
E<br />
D<br />
C<br />
B<br />
A A<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
D<br />
C<br />
A<br />
periodic traffic<br />
E<br />
B<br />
A<br />
D<br />
C<br />
A<br />
A<br />
D<br />
C<br />
A
Aperiodic traffic<br />
F<br />
E<br />
D<br />
C<br />
B<br />
M<br />
1<br />
A A<br />
M<br />
2<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
D<br />
C<br />
A<br />
aperiodic traffic<br />
E<br />
B<br />
A<br />
D<br />
C<br />
A<br />
A<br />
D<br />
C<br />
A
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
application layer<br />
� two main classes of relationships<br />
� client - server<br />
– and variants<br />
� publisher - subscriber<br />
– and variants
Request<br />
RT<br />
Confirmation<br />
Indication<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
client-server client server<br />
Response<br />
X-Request<br />
Y-Indication<br />
quality of service:<br />
safety : confirmed service<br />
response time : transport delay + local server response time<br />
X-Indication<br />
Y-Request
Pull<br />
Publishing<br />
Manager<br />
Pull<br />
Subscriber<br />
Pull<br />
Subscriber<br />
publisher - subscriber models<br />
Confirmed service request<br />
Pull<br />
Publisher<br />
Confirmed service response<br />
containing published<br />
information<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Push<br />
Push<br />
Subscriber<br />
subscriber<br />
Push<br />
Push<br />
subscriber<br />
Subscriber<br />
Push<br />
Push<br />
Subscriber<br />
subscriber<br />
Confirmed service request/response<br />
Push<br />
Publisher<br />
Unconfirmed service<br />
containing published<br />
information
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
content<br />
� 1st part : history and state of the art<br />
– fieldbus origins<br />
– development of fieldbus and standards<br />
� 2nd part : technical aspects<br />
– application relationships<br />
– Medium Access Control<br />
– Data Link Layer<br />
– architectures
centralized<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
fieldbus traffic<br />
periodic traffic<br />
decentralized<br />
TDMA polling token<br />
CSMA<br />
TTP<br />
SERCOS<br />
INTERBUS<br />
CONTROLNET<br />
WORLDFIP<br />
PROFIBUS-DP<br />
PROFIBUS-PA<br />
FF<br />
P-NET<br />
PROFIBUS FMS<br />
+<br />
polling<br />
CAN<br />
DEVICENET<br />
SDS<br />
CANOPEN<br />
LON
periodic server<br />
periodic<br />
time slot<br />
INTERBUS<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
fieldbus traffic<br />
aperiodic traffic<br />
special frame on<br />
demand<br />
WORLDFIP<br />
PROFIBUS-PA<br />
FF<br />
when<br />
token<br />
CONTROLNET<br />
P-NET<br />
decentralized<br />
(as periodic)<br />
CSMA<br />
CAN<br />
SDS<br />
DeviceNet
POLLING<br />
ANSWER<br />
Slave4<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Profibus - 1<br />
M1 M2 M3 M4<br />
Slave1<br />
TOKEN<br />
passing<br />
Slave2<br />
Slave3<br />
Slave5
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Profibus -2<br />
� role of a Profibus master<br />
– receive the token<br />
– perform high priority messages first<br />
– perform the exchanges specified in the Poll List<br />
– perform low priority messages<br />
– perform station registration (live list)<br />
– send the token
Bus arbitrator<br />
polling table<br />
Speed<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
WorldFIP - 1<br />
Local Write<br />
75<br />
Speed value<br />
Local Read<br />
52<br />
Speed<br />
“copy”<br />
Local Read<br />
52<br />
Speed<br />
“copy”
Bus arbitrator<br />
Speed<br />
Speed<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
WorldFIP - 2<br />
Local Write<br />
75<br />
Speed<br />
Local Read<br />
52<br />
Speed<br />
“copy”<br />
Local Read<br />
52<br />
Speed<br />
“copy”
Bus arbitrator<br />
Speed<br />
v(Speed)=75<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
WorldFIP - 3<br />
Local Write<br />
75<br />
Speed<br />
Local Read<br />
Speed<br />
“copy”<br />
Local Read<br />
Speed<br />
“copy”
Bus arbitrator<br />
Speed<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
WorldFIP - 4<br />
Local Write<br />
75<br />
Speed<br />
Local Read<br />
Speed<br />
“copy”<br />
Local Read<br />
75 75<br />
Speed<br />
“copy”
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
ControlNet - 1<br />
� based on a fixed repetitive time cycle<br />
– <strong>Network</strong> Update <strong>Time</strong> (NUT)<br />
– close synchronism<br />
– each node - a clock synchronised to the NUT<br />
– access to the medium in sequential order based<br />
on the MAC ID of the node<br />
– implicit token passing<br />
� at the end of a frame, comparison of the received<br />
MAC ID +1 with the own address
Scheduled part<br />
NUT i<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
ControlNet - 2<br />
Unscheduled part<br />
station<br />
K<br />
NUT I+1<br />
Guard Band<br />
station<br />
K+1
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
ControlNet - 3<br />
� in a NUT, three time windows<br />
– scheduled<br />
– unscheduled<br />
– Guard Band<br />
� one MAC Frame by node in scheduled part<br />
� predictable and deterministic manner<br />
� Round Robin in the unscheduled part
K+1<br />
Station K<br />
periodic<br />
data<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Interbus - 1<br />
start<br />
Station K<br />
aperiodic<br />
data<br />
K+2
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE NODE<br />
COMPEL<br />
NODE<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
arbitrator<br />
DISTRIBUTE<br />
ARBITRATOR<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
TOKEN<br />
NODE<br />
TOKEN<br />
NODE<br />
NODE<br />
Message<br />
Reply<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
token<br />
Message<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE NODE<br />
NODE<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
L.A.S.<br />
NODE<br />
COMPEL<br />
L.A.S.<br />
NODE<br />
NODE<br />
NODE<br />
DISTRIBUTE<br />
NODE<br />
NODE<br />
NODE
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE NODE<br />
MSG<br />
REPLY<br />
NODE<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
L.A.S.<br />
TOKEN<br />
L.A.S.<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
MSG<br />
NODE<br />
NODE<br />
NODE
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE NODE<br />
NODE<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
L.A.S.<br />
TOKEN<br />
L.A.S.<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE<br />
NODE
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
content<br />
� 1st part : history and state of the art<br />
– fieldbus origins<br />
– development of fieldbus and standards<br />
� 2nd part : technical aspects<br />
– application relationships<br />
– Medium Access Control<br />
– Data Link Layer<br />
– architectures
� QoS transport<br />
– reliability of<br />
transmission<br />
– storing methods<br />
� queues<br />
� buffers (retentive or<br />
not)<br />
– connections<br />
� with or without<br />
� peer to peer, multipeer<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
quality of service<br />
� QoS timeliness<br />
– time stamping<br />
– timeliness attributes<br />
� residence time<br />
� update time<br />
� synchronous
14 12 12<br />
16 12 12<br />
16 16 16<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
buffers and queues<br />
16<br />
14<br />
12<br />
12<br />
14<br />
16
QoS in fieldbus - transport<br />
� connections<br />
– four qualities related to frames ordering<br />
classical (queues…)<br />
disordered without loss<br />
ordered (but with possible loss)<br />
unordered (as received)<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong>
QoS in fieldbus - timeliness<br />
production transmission reception consumption<br />
production consumption<br />
transmission<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
reception
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
residence attribute<br />
� assessment based upon the time that a data<br />
unit has been resident in a buffer.<br />
Write-date<br />
Residence <strong>Time</strong><br />
Read-date<br />
End of time<br />
window
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
update attribute<br />
� assessment based upon the time interval<br />
between a synchronising event and the<br />
moment the buffer is written<br />
Update-<strong>Time</strong><br />
Synchro-event Writing-date End of time<br />
window
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
synchronous attribute<br />
� assessment based upon the time intervals and<br />
timing relationships between<br />
– a synchronising event<br />
– the moment when the buffer is written<br />
– the moment the buffer is read<br />
Synchro-event<br />
Writing-date Read-date<br />
End of time<br />
window
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
time coherence<br />
� time coherence of actions, of events<br />
� simultaneity of events<br />
� occurrences in a given time window<br />
� time coherence of<br />
– productions<br />
– consumptions<br />
– other actions
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
time coherence<br />
� control of time coherence<br />
– data received indication<br />
– allows, in multi peer connections, the<br />
synchronization of subscribers<br />
� usable to control any actions simultaneity<br />
� verification of time coherence<br />
– by timeliness attributes
space - time consistency<br />
� “reliable broadcasting”<br />
� management of lists of variables (copies)<br />
– produced by different publishers<br />
– consumed by several subscribers<br />
� verification and correction to obtain identical lists by the<br />
subscribers<br />
� kind of global acknowledgement for different transmitters<br />
� hypothesis:<br />
– two remote copies are considered identical if they are received<br />
without error and correct timeliness attributes<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong>
NODE<br />
NODE<br />
value(A)<br />
value(B)<br />
L6=OK<br />
NODE<br />
NODE 6<br />
NODE<br />
space - time consistency<br />
NODE NODE<br />
COMPEL L6<br />
COMPEL (A)<br />
DISTRIBUTE L6<br />
NODE<br />
value(A)<br />
value(B)<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
L.A.S.<br />
NODE 8<br />
NODE<br />
DISTRIBUTE A<br />
COMPEL (B)<br />
DISTRIBUTE B<br />
NODE<br />
NODE<br />
NODE 9<br />
L8=OK L9=OK<br />
NODE 7<br />
NODE<br />
value(A)<br />
value(B)<br />
value(A)<br />
value(B)<br />
L7=not OK, B
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
content<br />
� 1st part : history and state of the art<br />
– fieldbus origins<br />
– development of fieldbus and standards<br />
� 2nd part : technical aspects<br />
– application relationships<br />
– Medium Access Control<br />
– Data Link Layer<br />
– architectures
FMS<br />
LLI<br />
(glue)<br />
Physical layer<br />
two stacks architectures<br />
<strong>Fieldbus</strong> Link layer<br />
<strong>Time</strong> critical<br />
DP or PA<br />
Physical layer<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
SUB-MMS<br />
MCS<br />
Transport layer<br />
(glue)<br />
<strong>Time</strong> critical Data Link layer<br />
Physical layer<br />
<strong>Time</strong> critical<br />
MPS<br />
Physical layer<br />
Profibus Architecture WorldFIP Architecture
HTTP<br />
TCP<br />
IP<br />
DLL<br />
Ph L<br />
Outside<br />
HTTP<br />
TCP<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
IP<br />
Internet and fieldbus<br />
<strong>Time</strong> Critical Data Link layer<br />
Physical layer<br />
<strong>Time</strong> critical<br />
HTTP <strong>Time</strong> critical<br />
TCP<br />
IP<br />
<strong>Time</strong> Critical Data Link layer<br />
Physical layer<br />
Station 1 IP Encapsulation<br />
Based architecture<br />
Station 2
HTTP<br />
TCP/<br />
UDP<br />
IP<br />
Ethernet<br />
Physical layer<br />
Ethernet based architectures<br />
<strong>Time</strong> critical<br />
Application layer<br />
TC-DLL layer<br />
Physical layer<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
HTTP<br />
TCP<br />
UDP<br />
IP<br />
Ethernet Data Link layer<br />
Physical layer<br />
<strong>Time</strong> critical<br />
Application layer<br />
<strong>Time</strong> critical<br />
mechanisms<br />
Physical layer<br />
Ethernet A Ethernet B
time critical architecture<br />
Transport layer<br />
<strong>Network</strong> layer<br />
Physical layer<br />
OSI Application layer<br />
OSI Presentation layer<br />
OSI Session layer<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
<strong>Time</strong> critical Data Link layer<br />
<strong>Fieldbus</strong><br />
Application and<br />
Presentation layer<br />
Physical layer Physical layer
conclusion - fieldbus technology?<br />
� real time communication system and distributed data base<br />
� new paradigms of cooperation between agents<br />
� new views on quality of service<br />
� impact on several computer science domains<br />
– protocol modeling and validation<br />
– performance evaluation<br />
– scheduling (joint scheduling of messages and tasks)<br />
– and now joint modeling of application and communication for proving<br />
distributed applications<br />
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong>
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
fieldbus technology?<br />
� future<br />
– which Ethernet ?<br />
– Internet and Web technologies<br />
– wireless<br />
– real intelligent devices and equipment<br />
– interoperability<br />
� standards as in general purpose computing<br />
– one or two operating systems<br />
– a common communication architecture<br />
reference:<br />
Proceedings of IEEE, Vol 93, N°6, June 2005, pp 1073-1101
ETR 2005 - <strong>Fieldbus</strong> - <strong>Industrial</strong> <strong>Network</strong> - <strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
<strong>Fieldbus</strong> :<br />
<strong>Industrial</strong> <strong>Network</strong><br />
<strong>Real</strong> <strong>Time</strong> <strong>Network</strong><br />
Jean-Pierre Thomesse<br />
Institut National Polytechnique de Lorraine<br />
Nancy, France
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